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公开(公告)号：US20210361369A1
公开(公告)日：2021-11-25
申请号：US17384176
申请日：2021-07-23
IPC分类号： A61B34/00 , A61B34/37 , A61B34/30 , A61B1/00 , A61B1/005 , A61B1/018 , A61B90/10 , A61B1/002 , A61B5/00 , A61B8/12 , A61B1/04 , A61B1/06 , A61B1/05 , A61B17/00
摘要： A surgical instrument assembly comprises a guide tube and first and second instruments extended within the guide tube. The first instrument comprises a first elongated shaft coupled to a first end effector. The second instrument comprises a second elongated shaft coupled to a second end effector. The surgical instrument assembly may also comprise an imaging assembly extended distally of the guide tube. The imaging assembly comprises a distal imaging component and an elongated imaging shaft. The distal imaging component is coupled to a distal end of the elongated imaging shaft by a pivot joint. The imaging assembly has a first configuration with the elongated imaging shaft aligned with the distal imaging component when inserted through the guide tube and a second configuration with the distal imaging component pivoted out of alignment with the elongated imaging shaft when the distal imaging component is extended from the guide tube.
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公开(公告)号：US20210346108A1
公开(公告)日：2021-11-11
申请号：US17383736
申请日：2021-07-23
IPC分类号： A61B34/00 , A61B34/37 , A61B34/30 , A61B1/00 , A61B1/005 , A61B1/018 , A61B90/10 , A61B1/002 , A61B5/00 , A61B8/12 , A61B1/04 , A61B1/06 , A61B1/05 , A61B17/00
摘要： A surgical assembly may comprise an actuator system including a plurality of wedge-shaped actuator assemblies arranged radially around a longitudinal axis. The surgical assembly may also comprise a first instrument assembly including a first elongate instrument shaft and a first wedge-shaped transmission mechanism coupled at a proximal end of the first elongate instrument shaft. The first wedge-shaped transmission mechanism is configured to engage a first wedge-shaped actuator assembly of the plurality of wedge-shaped actuator assemblies. The first wedge-shaped actuator assembly is movable linearly, relative to the other of the plurality of wedge-shaped actuator assemblies of the plurality of wedge-shaped actuator assemblies, along a path parallel to the longitudinal axis to linearly translate the first instrument assembly.
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73.发明申请公开(公告)号：US20210267699A1
公开(公告)日：2021-09-02
申请号：US17321115
申请日：2021-05-14
发明人： Paul G. GRIFFITHS , Paul W. MOHR , Nitish SWARUP , Michael COSTA , David Q. LARKIN , Thomas G. Cooper
摘要： Techniques for limiting motion of a first structure include a manipulator supported by the first structure, a second structure supporting the first structure, and a processor. The processor is configured to, in response to entering a first mode, determine, relative to the first structure, a first position of a reference location on entry into the first mode, the reference location being associated with a link of the manipulator; and while in the first mode: detect a manual movement of the reference location to a second position relative to the first structure, wherein a difference between the first and second positions comprises a displacement having first and second components in respective different first and second directions; and, in response, command the second structure to move relative to the reference location in the first direction so as to reduce the first component while not changing the second component.
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公开(公告)号：US10993773B2
公开(公告)日：2021-05-04
申请号：US16377988
申请日：2019-04-08
摘要： A surgical system (200) includes a surgical instrument (260) that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument (260) is coupled to motors in a surgical instrument manipulator assembly (240) via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly (240) have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly (240). From the drive output disk (545) in the surgical instrument manipulator assembly to the driven disk (964) of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.
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公开(公告)号：US20210022768A1
公开(公告)日：2021-01-28
申请号：US17071643
申请日：2020-10-15
发明人： Thomas G. Cooper , Daniel H. Gomez , Paul E. Lilagan , Anthony K. McGrogan , Giuseppe Maria Prisco
摘要： A surgical access port comprises an instrument guide. The instrument guide comprises a proximal end, a distal end, a plurality of instrument guide channels between the proximal and distal ends, and an outside surface that fits closely to an inner wall surface of a cannula into which the instrument guide is inserted. The instrument guide also comprises a first guide channel opening defined along a length of a first guide channel of the plurality of instrument guide channels. The instrument guide also comprises a second guide channel opening defined along a length of a second guide channel of the plurality of instrument guide channels. The instrument guide also comprises an insufflation channel defined between the first and second guide channel openings. The insufflation channel extends from a position between the proximal and distal ends of the instrument guide to the distal end of the instrument guide.
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公开(公告)号：US10898281B2
公开(公告)日：2021-01-26
申请号：US15978357
申请日：2018-05-14
摘要： A robotic surgery system comprises a mounting base, a plurality of surgical instruments, and an articulate support assembly. Each instrument is insertable into a patient through an associated minimally invasive aperture to a desired internal surgical site. The articulate support assembly movably supports the instruments relative to the base. The support generally comprises an orienting platform, a platform linkage movably supporting the orienting platform relative to the base, and a plurality of manipulators mounted to the orienting platform, wherein each manipulator movably supports an associated instrument.
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公开(公告)号：US10799303B2
公开(公告)日：2020-10-13
申请号：US14911529
申请日：2014-08-13
发明人： Thomas G. Cooper , Anthony K. McGrogan , Robert E. Holop , Todd R. Solomon , Eugene F. Duval , Kent M. Anderson
摘要： A surgical system (200) includes a surgical instrument (260) that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument (260) is coupled to motors in a surgical instrument manipulator assembly (240) via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly (240) have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly (240). From the drive output disk (545) in the surgical instrument manipulator assembly to the driven disk (964) of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.
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公开(公告)号：US10710246B2
公开(公告)日：2020-07-14
申请号：US15327322
申请日：2015-08-12
发明人： Anthony K. McGrogan , Thomas G. Cooper , David Q. Larkin , Kent M. Anderson , Jeffrey D. Brown , Paul E. Lilagan , Michael Ikeda
摘要： A surgical system uses a single entry port in a wide variety of surgeries. To insert multiple surgical instruments into a patient through a single entry port requires that the shaft (262A1) of at least one (260A1) of the surgical instruments be bent between the base of the surgical instrument (260A1) and the point where the shaft contacts a channel in an entry guide (270A). Each surgical instrument (260A1, 260A2) is positioned by an instrument manipulator positioning system (231A) so that when the shaft is inserted in a channel of the entry guide (270A), any bending of the shaft does not damage the surgical instrument and does not inhibit proper operation of the surgical instrument.
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公开(公告)号：US10456166B2
公开(公告)日：2019-10-29
申请号：US15360311
申请日：2016-11-23
发明人： Thomas G. Cooper , Jeffrey D. Brown , Nicola Diolaiti , Eugene F. Duval , Daniel H. Gomez , Robert E. Holop , Paul E. Lilagan , Anthony K. McGrogan , Craig R. Ramstad
IPC分类号： A61B17/34 , B32B3/12 , F16F1/12 , A61B34/30 , A61B34/35 , A61B34/37 , A61B46/10 , A61B34/00 , B25J15/04 , A61B46/23 , A61B50/00 , A61B90/98 , A61B17/02 , A61M13/00 , A61B17/00 , A61B90/50
摘要： An entry guide tube and cannula assembly, a surgical system including the assembly, and a method of surgical instrument insertion are provided. In one embodiment, the assembly includes a cannula having a proximal portion that operably couples to an accessory clamp of a manipulator arm, and a distal tubular member coupled to the proximal portion, the tubular member having an opening for passage of at least one instrument shaft. The assembly also includes an entry guide tube rotatably coupled to the proximal portion of the cannula, the entry guide tube including a plurality of channels for passage of a plurality of instrument shafts, wherein the entry guide tube is rotatably driven relative to the proximal portion of the cannula by rotation of at least one instrument shaft about a longitudinal axis of the entry guide tube.
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公开(公告)号：US10448813B2
公开(公告)日：2019-10-22
申请号：US14943216
申请日：2015-11-17
IPC分类号： A61B1/00 , A61B34/37 , A61B34/30 , A61B1/018 , A61B1/002 , A61B1/04 , A61B1/06 , A61B5/00 , A61B8/12 , A61B1/05 , A61B17/00 , A61B90/10 , A61B34/00 , A61B34/20 , A61B1/005 , A61B17/34 , A61B90/00
摘要： A surgical instrument is inserted through a guide tube. The surgical instrument exits at an intermediate position of the guide tube and is oriented to be substantially parallel to the guide tube's longitudinal axis as it exits. A stereoscopic image capture component is on the guide tube between the intermediate position and the guide tube's distal end. The image capture component's field of view is generally perpendicular to the guide tube's longitudinal axis. The guide tube is jointed to allow the image capture component to be moved. The surgical instruments and the guide tube are telemanipulatively controlled.
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